Bag opening apparatus and method

ABSTRACT

Apparatus and methods for opening bags, wherein the method comprises: positioning the bag upon two or more gripping members; gripping a first section and a second section of the bag with the gripping members, wherein a third section of the bag is between the first section and the second section of the bag; heating the bag along the third section of the bag to form a heated section within the third section of the bag; inserting one or more ripping members into the third section of the bag; moving at least one of the ripping members inserted into the third section of the bag along the third section of the bag to form a tear in the bag within the heated section of the bag; and moving at least one of the gripping members apart from at least one other of the gripping members to move the first section of the bag apart from the second section of the bag, thereby enlarging the tear in the bag.

TECHNICAL FIELD

The present disclosure relates to apparatus and methods for openingbags. More particularly, the present disclosure relates to apparatus andmethods for opening bags, for example laundry bags, by heating andtearing the bags.

BACKGROUND

A bag may be used to contain material for packaging, storage, and/ortransportation. Material packaged, stored, and transported in a bag mayinclude fabric material to be cleaned, for example laundry such asclothing, sheets, towels, and the like.

A bag may comprise any substance strong enough to contain the materialstored within the bag during typical packaging, storage andtransportation conditions. Typical substances that a bag may becomprised of include cloth, plastic, paper, and the like, or any blendthereof.

Bags such as laundry bags are commonly used to package, store andtransport laundry for cleaning. A laundry bag may be filled with laundryand stored for a period of time, and then transported to a locationwhere the laundry is removed from the laundry bag and separated from thelaundry bag. Once removed and separated from the laundry bag, thelaundry may then be processed, for example by cleaning the laundry.

Laundry may be removed from a laundry bag through an opening in thelaundry bag. The larger the opening in the laundry bag and the fasterthe opening is formed, the faster the laundry bag may be emptied oflaundry.

Once laundry is removed from a laundry bag, the laundry is typicallyseparated from the laundry bag so that the laundry may be processedseparately from the laundry bag. For example, the laundry may enter alaundry machine, and the laundry bag may be disposed of. Additionally,it may be undesirable for a laundry bag to be processed along with thelaundry. For example, a laundry bag may comprise a substance such asplastic that may break down during cleaning of the laundry and interferewith the operation of a laundry machine, for example by breaking intosmall pieces and clogging filters and/or drains. As such, it isgenerally desirable to maintain the laundry bag in one or a small numberof pieces when tearing open the laundry bag, thereby facilitatingseparation of the laundry bag from the laundry.

There is a general desire for apparatus and methods for quickly forminga large opening in a bag such as a laundry bag. There is a furtherdesire for apparatus and methods that also separate the bag frommaterial stored within the bag, without damaging the material storedwithin the bag.

The foregoing examples of the related art and limitations relatedthereto are intended to be illustrative and not exclusive. Otherlimitations of the related art will become apparent to those of skill inthe art upon a reading of the specification and a study of the drawings.

SUMMARY

The following embodiments and aspects thereof are described andillustrated in conjunction with systems, tools and methods which aremeant to be exemplary and illustrative, not limiting in scope. Invarious embodiments, one or more of the above-described problems havebeen reduced or eliminated, while other embodiments are directed toother improvements.

One aspect of the invention provides a method for removing material froma bag, the method comprising: positioning the bag upon two or moregripping members; gripping a first section and a second section of thebag with the gripping members, wherein a third section of the bag isbetween the first section and the second section of the bag; heating thebag along the third section of the bag to form a heated section withinthe third section of the bag; inserting one or more ripping members intothe third section of the bag; moving at least one of the ripping membersinserted into the third section of the bag along the third section ofthe bag to form a tear in the bag within the heated section of the bag;and moving at least one of the gripping members apart from at least oneother of the gripping members to move the first section of the bag apartfrom the second section of the bag, thereby enlarging the tear in thebag.

In some embodiments, inserting the one or more ripping members into thethird section of the bag comprises: piercing the heated section of thebag with the ripping members to form one or more holes in the bag; andinserting the ripping members into the heated section of the bag.

In some embodiments, moving the at least one of the ripping membersalong the third section of the bag and moving the at least one of thegripping members apart from the at least one other of the grippingmembers comprises moving the at least one of the ripping memberssubstantially perpendicular to the movement of the at least one of thegripping members.

In some embodiments, the method further comprises separating the bagfrom the material comprises suctioning the bag from the material with avacuum, and/or the bag comprises a plastic laundry bag and the materialcomprises laundry.

One aspect of the invention provides an apparatus removing material froma bag, the apparatus comprising: a first set of one or more grippingmembers configured to grip a first section of the bag when the bag ispaced upon the gripping members; a second set of one or more grippingmembers configured to grip a second section of the bag and move apartfrom the first set of gripping members; one or more ripping membersinsertable into a third section of the bag and moveable along the thirdsection of the bag, wherein the third section of the bag is between thefirst section and the second section of the bag; and a heater configuredto heat at least a portion of the third section of the bag.

In some embodiments, the apparatus further comprises a vacuum configuredto suction an area between the first set of gripping members and thesecond set of gripping members

In addition to the exemplary aspects and embodiments described above,further aspects and embodiments will become apparent by reference to thedrawings and by study of the following detailed descriptions.

BRIEF DESCRIPTION OF THE DRAWINGS

Exemplary embodiments are illustrated in referenced figures of thedrawings. It is intended that the embodiments and figures disclosedherein are to be considered illustrative rather than restrictive.

FIG. 1A is a schematic diagram of an apparatus for removing materialfrom a bag according to an example embodiment of the present invention.

FIG. 1B is a schematic diagram of the apparatus depicted in FIG. 1A,wherein a heated section is formed in the bag by the apparatus accordingto an example embodiment of the present invention.

FIG. 10 is a schematic diagram of the apparatus depicted in FIG. 1A,wherein a tear is formed in the bag by the apparatus according to anexample embodiment of the present invention.

FIG. 1D is a schematic diagram of the apparatus depicted in FIG. 1A,wherein the tear in the bag is enlarged by the apparatus according to anexample embodiment of the present invention.

FIGS. 2A to 2C are schematic diagrams of a side view of the apparatusdepicted in FIGS. 1A to 1D. FIG. 2A depicts the apparatus forming aheated section in the bag. FIG. 2B depicts the apparatus forming a tearin the bag. FIG. 2C depicts the apparatus enlarging the tear in the bag,and material exiting the bag through the tear.

FIG. 3 is a flow chart illustrating a method for removing material froma bag according to an example embodiment of the present invention.

FIG. 4A is a front perspective view of an apparatus for opening bagsaccording to an example embodiment of the present invention.

FIG. 4B is a top perspective view of a section of the apparatus depictedin FIG. 4A.

FIG. 4C is a side view of a section of the apparatus depicted in FIG.4A.

DESCRIPTION

Throughout the following description specific details are set forth inorder to provide a more thorough understanding to persons skilled in theart. However, well known elements may not have been shown or describedin detail to avoid unnecessarily obscuring the disclosure. Accordingly,the description and drawings are to be regarded in an illustrative,rather than a restrictive, sense.

The present disclosure is directed to apparatus and methods for removingmaterial from a bag by gripping the bag, heating a section of the bag,and ripping open the bag along the heated section. Once the bag isripped open, the material may exit the bag, and/or the bag may beseparated from the material, for example by suctioning the bag from thematerial.

To rip open the bag, the bag is gripped by two or more gripping membersand heated by a heater to weaken a section of the bag between thegripping members. One or more ripping members are then inserted into thebag and moved along the bag. The movement of the ripping members alongthe bag exerts a force along the bag, and the force causes the bag totear within the weakened section of the bag. Once the tear is formed inthe bag, the tear is enlarged by moving the gripping members apart.

In some embodiments, inserting the ripping members into the bagcomprises piercing the bag with the ripping members to form one or moreholes in the bag, and inserting the ripping members into the bag throughthe holes.

An apparatus comprising a heater, gripping members, and ripping membersmay quickly form a single large tear in a bag. A large tear in the bagmay facilitate quickly and easily removing material stored within thebag from the bag. Furthermore, a single tear in the bag may facilitatequickly and easily separating the bag from the material, for example bysuctioning the bag from the material.

A large tear in a bag may be a tear with a length between half a widthof the bag and the width of the bag.

In some embodiments, two ripping members are inserted into the bag andmoved apart to form a tear between the two ripping members. Insertingtwo ripping members into a bag may increase the precision and speed inwhich the tear is formed in the bag compared to inserting only oneripping member into a bag.

In some embodiments, the gripping members are moved apart in a firstdirection and the ripping members are moved apart in a second directionsubstantially perpendicular to the first direction. So moving thegripping members and ripping members may increase the size by which thetear is enlarged when moving the gripping members apart compared tomoving the gripping members in another direction relative to moving ofthe ripping members.

Gripping, heating, and tearing open a bag may facilitate removingmaterial stored within the bag from the bag without damaging thematerial. For example, where the bag comprises a plastic laundry bag andthe material comprises laundry, the force used to insert the rippingmembers into the laundry bag may be sufficient to pierce the laundrybag, but insufficient to damage the laundry. Similarly, the temperatureof air used to heat the laundry bag may be sufficient to weaken thelaundry bag, but insufficient to damage the laundry within the laundrybag. Finally, the force of the grippers gripping the laundry bag and theforce on the laundry bag from moving the grippers apart may berespectively sufficient to grip the laundry bag and enlarge the tear,but insufficient to damage the laundry.

Heating a bag weakens the bag. Weakening a bag controls the formation ofa tear in the bag, as the weakened section of the bag will break first,thereby forming a tear in the weakened section of the bag. Furthermore,weakening the bag may allow the tear to be enlarged without forming asecond tear in the bag. Once the tear is formed, the force on the bagfrom moving the gripping members apart may cause the bag to tearcontiguous with the existing tear, as the exiting tear further weakensthe already weakened bag. Moving the gripping members apart may alsostretch the bag around the tear, thereby further enlarging the openingin the bag formed by the tear.

In some embodiments, the ripping members are inserted into the weakenedsection of the bag, thereby requiring less force to insert the rippingmembers into the bag than if the ripping members were inserted outsideof the weakened section.

In some embodiments, the gripping members and/or the ripping members arefurther configured to avoid damaging the material stored within a bag.For example, one or both of the gripping members and/or the rippingmembers may comprise one or more of:

-   -   blunted ends, for example rounded tips; and/or    -   ends comprising a soft material, for example rubber.

FIG. 1A is a schematic diagram of apparatus 100 for removing material 12(depicted in FIGS. 2A to 2C) from bag 14, according to an exampleembodiment of the present invention. Apparatus 100 comprises grippingmembers 16A to 16H (collectively, gripping members 16), ripping members18A and 18B (collectively, ripping members 18), heater 20, and vacuum22.

Apparatus 100 may remove material 12 from bag 14 by:

-   -   operating gripping members 16 to grip bag 14;    -   operating heater 20 to heat a section of bag 14;    -   inserting ripping members 18 into bag 14 and moving ripping        members 18 along bag 14 to form a tear; and    -   moving gripping members 16 apart to enlarge the tear in bag 14.

Once the tear is formed and enlarged in bag 14, material 12 may exit bag14 through the tear, and bag 14 may be separated from material 12, forexample by suctioning bag 14 from material 12 with vacuum 22.

Bag 14 may be notionally divided into three sections: first section 14A,second section 14B, and third section 14C.

Third section 14C of bag 14 is between first section 14A and secondsection 14B. FIG. 1A depicts an embodiment where first section 14Aopposes second section 14B, and third section 14C comprises the area ofbag 14 between first section 14A and second section 14B.

One or more of gripping members 16A, 16B, 16C and 16D (collectively,first set of gripping members 17A) grip first section 14A of bag 14, andone or more of gripping members 16E 16F, 16G and 16H (collectively,second set of gripping members 17B) grip second section 14B of bag 14.As third section 14C of bag 14 is between first section 14A and secondsection 14B, third section 14C is also between first set of grippingmembers 17A and second set of gripping members 17B when gripping members16 grip bag 14.

Apparatus 100 is configured to move first set of gripping members 17Aapart from second set of gripping members 17B in direction D1, and/orsecond set of gripping members 17B apart from first set of grippingmembers 17A in direction D2. Where both sets of gripping member 17A and17B move, D1 is at an angle to D2. In some embodiments, direction D2 isopposite to (180 degrees from) direction D1.

When first set of gripping members 17A moves apart from second set ofgripping members 17B, first section 14A is moved by first set ofgripping members 17A apart from second section 14B, and/or secondsection 14B is moved by second set of gripping members 17B apart fromfirst section 14A. Moving one or both of first section 14A and secondsection 14B apart from each other pulls first section 14A and secondsection 14B apart, and exerts a lateral force on third section 14C.

In some embodiments, gripping members 16 are arranged in two opposingrows, for example a row of first set of gripping members 17A opposing arow of second set of gripping members 17B, as depicted in FIG. 1A.Arranging gripping members 16 in opposing rows may increase the lateralforce on third section 14C when two or more of first set of grippingmembers 17A grip bag 14 and/or two or more of second set of grippingmembers 17B grip bag 14.

One or more of ripping members 18 are configured to move towards thirdsection 14C and along third section 14C. Moving one or more of rippingmembers 18 towards third section 14C allows one or more of rippingmembers 18 to pierce third section 14C, and/or be inserted into thirdsection 14C of bag 14. Moving one or more of ripping members 18 alongthird section 14C allows one or more of ripping members 18 to form atear in third section 14C of bag 14.

In the embodiment depicted in FIG. 1A, apparatus 100 is configured tomove ripping member 18A along third section 14C in direction D3, andtowards third section 14C in direction D5. Ripping member 18B isconfigured to move along third section 14C in direction D4, and towardsthird section 14C in direction D5.

The angle between the direction of the movement of gripping members 16and the direction of the movement of ripping members 18 along thirdsection 14C may affect the area by which tear 26 (depicted in FIG. 10 )is enlarged by the movement of gripping members 16. The closer the anglebetween the direction of the movement of gripping members 16 and thedirection of the movement of ripping members 18 is to perpendicular, thegreater the area tear 26 may be enlarged from the movement of grippingmembers 16.

In some embodiments, one or both of directions D3 and D4 aresubstantially perpendicular to one or both of directions D1 and D2. Insuch embodiments, one or more of gripping members 16 move apart from oneor more others of gripping members 16 in a direction substantiallyperpendicular to a direction in which one or more of ripping members 18move along third section 14C. As such, tear 26 in third section 14C isformed perpendicular to the force exerted on third section 14C by themovement of gripping members 16. Forming tear 26 perpendicular to theforce exerted on third section 14C by the movement of gripping members16 may maximize the area by which tear 26 is enlarged by the movement ofgripping members 16.

FIG. 1B is a schematic diagram of apparatus 100 wherein heated section24 is formed within third section 14C of bag 14 by heater 20 heatingthird section 14C. As heated section 24 is within third section 14C ofbag 14, heated section 24 is between first section 14A and secondsection 14B of bag 14.

In some embodiments, there may be advantages to forming heated section24 with a certain shape and/or orientation relative to one or more of:first section 14A, second section 14B, gripping members 16, rippingmembers 18, and one or more of directions D1, D2, D2 and D4. A certainshape and/or orientation of heated section 24 may have one or more ofthe following advantages over another shape and/or orientation of heatedsection 24:

-   -   less force may be required to insert ripping members 18 into        third section 14C of bag 14;    -   less force may be required to move one or more of ripping        members along third section 14C and form tear 26 in bag 14;    -   tear 26 may be enlarged by a greater area from the movement of        gripping members 16;    -   a higher likelihood of forming a single tear in bag 14 from the        movement of ripping members 18; and/or    -   a lower likelihood of forming a second tear in bag 14 from the        movement of gripping members 16.

FIG. 1B depicts an embodiment of apparatus 100 wherein heated section 24is a longitudinally extending area between first section 14A and secondsection 14B. In some embodiments, a width of heated section 24 is lessthan 1/10 a length of heated section 24.

When heated section 24 is formed where ripping members 18 are insertedinto bag 14, ripping members may be inserted into bag 14 with less forcethan if ripping members 18 were inserted into bag 14 outside of heatedsection 24. Furthermore, inserting ripping members into heated section24 may form a smaller hole in bag 14 than if ripping members 18 wereinserted into bag 14 outside of heated section 24. A smaller hole in bag14 may cause the movement of ripping members 18 along third section 14Cto form a longer and narrower tear 26 in direction D3 and/or D4 than alarger hole in bag 14.

In some embodiments, heater 20 may be configured to form heated section24 in bag 14. For example, heater 20 may be positioned relative togripping members 16 to expel heated air along third section 14C to formheated section 24.

FIG. 10 is a schematic diagram of apparatus 100 wherein tear 26 isformed within third section 14C of bag 14 by moving ripping members 18apart along third section 14C, after inserting ripping members 18 intothird section 14C.

In some embodiments, tear 26 may be formed with a certain orientation toone or more of gripping members 16. In the embodiment depicted in FIG.10 , tear 26 is formed substantially perpendicular to the row of firstset of gripping members 17A and to the row of second set of grippingmembers 17B. As such, tear 26 is formed within section 14C substantiallyperpendicular to directions D1 and D2.

Forming tear 26 substantially perpendicular to directions D1 and D2 mayresult in tear 26 being enlarged more by the movement of grippingmembers 16 than another orientation of tear 26 to gripping members 16.

FIG. 10 depicts an embodiment of apparatus 100 where both rippingmembers 18A and 18B are inserted into third section 14C and moved apartfrom each other. Inserting both ripping members 18 into third section14C and moving ripping members 18 apart from each other may form a tearin third section 14C closer to parallel with directions D3 and D4 thanif only one of ripping members 18 is inserted into third section 14C.

In some embodiments:

-   -   both of ripping members 18 are inserted into third section 14C,        and only one of ripping members 18A and 18B are moved apart from        the other of ripping members 18A and 18B to form tear 26; and/or    -   only one of ripping members are inserted into third section 14C,        and only one of ripping members 18A and 18B are moved apart from        the other of ripping members 18A and 18B to form tear 26.

As third section 14C is between first set of gripping members 17A andsecond set of gripping members 17B, when first set of gripping members17A move in direction D1 and/or second set of gripping members 17B movein direction D2, third section 14C is pulled apart by a lateral forcefrom the movement of first section 14A and/or second section 14B. Thelateral force on third section 14C enlarges tear 26.

FIG. 1D is a schematic diagram of apparatus 100 wherein tear 26 isenlarged by moving one or more of first set of gripping members 17A indirection D1 and/or one or more of second set of gripping members 17B indirection D2. When first set of gripping members 17A are moved apartfrom second set of gripping members 17B, bag 14 is stretched acrosssection 14C, and tear 26 is enlarged by bag 14 stretching around tear 26and/or further tearing tear 26.

In some embodiments, ripping members 18 are configured to be retractedin a direction opposite to the direction in which they are inserted intobag 14. Where ripping members 18 are configured to be inserted into bag14 by moving in direction D5, ripping members 18 may be retracted in adirection opposite to direction D5.

Ripping members 18 may be retracted:

-   -   after forming tear 26 and before gripping members 16 move apart;    -   after forming tear 26 and concurrent with moving gripping        members 16 apart; or    -   after gripping members 16 move apart and before bag 14 is        separated from material 12.

Retracting ripping members 18 may avoid ripping members 18 interferingwith gripping members 16 moving apart and enlarging tear 26, and/or bag14 being separated from material 12.

FIGS. 2A to 2C are schematic diagrams of a side view of apparatus 100,wherein apparatus 100 forms tear 26 along the bottom of bag 14, andmaterial 12 exits bag 14. FIG. 2A depicts heater 20 forming heatedsection 24 along the bottom of bag 14. FIG. 2B depicts ripping member18A inserted into the bottom of bag 14 and forming tear 26. FIG. 2Cdepicts gripping members 16A and 16E moved apart to enlarge tear 26, andmaterial 26 exiting bag 14 through tear 26.

FIG. 3 is a flow chart illustrating method 300 for removing material 12from bag 14.

Method 300 may be performed by apparatus 100. Method 300 comprisessteps:

-   -   310: positioning bag 14 upon gripping members 16;    -   320: gripping first section 14A of bag 14 with one or more of        first set of gripping members 17A and gripping second section        14B of bag 14 with one or more of second set of gripping members        17B;    -   330: heating bag 14 along third section 14C to form heated        section 24 within third section 14C;    -   340: inserting one or more of ripping member 18 into third        section 14C of bag 14;    -   350: moving at least one of the ripping member 18 inserted into        third section 14C along third section 14C to form tear 26 within        heated section 24; and    -   360: moving first set of gripping members 17A apart from second        set of gripping members 17B to move first section 14A of bag 14        apart from second section 14B of bag 14, thereby enlarging tear        26.

Method 300 may further comprise one or more of the following steps:

-   -   370: separating bag 14 from material 12; and    -   380: aligning first section 14A of bag 14 with one or more of        first set of gripping members 17A, aligning second section 14B        of bag 14 with one or more of second set of gripping members        17B, and directing bag 14 upon gripping members 16.

FIG. 4A is a front perspective view of apparatus 400 for opening bags,for example laundry bags. Apparatus 400 comprises body 410 and gripperframe 412 mounted to body 410. First set of gripping members 414A andsecond set of gripping members 414B (collectively, gripping members 414)are mounted to gripper frame 412.

Apparatus 400 further comprises funnel 416 and chute 418 mounted to body410 above gripper frame 412. Funnel 416 and chute 418 may be configuredto align a bag with gripping members 414, and direct the bag on togripping members 414. Funnel 416 may comprise angled walls for centeringa bag with chute 418, and directing the bag into chute 418. Chute 418may have an opening above gripper frame 412. Chute 418 may be mounted tobody 410 with the opening of chute 418 aligned with gripper frame 412.

Funnel 416 and chute 418 may be configured to:

-   -   align a first section of a bag with first set of gripping        members 414A;    -   align a second section of the bag with second set of gripping        members 414B; and    -   direct the first section of the bag upon first set of gripping        members 414A and the second section of the bag upon second set        of gripping members 414B.

Gripper frame 412 comprises first platform 420A and second platform 420B(collectively, gripper platforms 420; depicted in FIG. 4B). In someembodiments, gripper platforms 420 are mounted to body 410 at an angleto each other so that gripper platforms 420 from a V-shape. The V-shapeof gripper platforms 420 may center a bag within gripper platforms 420,as a bag may slide towards the middle of gripper platforms 420 due tothe V-shape of gripper platforms 420.

First platform 420A is movably mounted to body 410. In some embodiments,first platform 420A is mounted to drive belt 422, wherein drive belt 422moves first platform 420A laterally along body 410. Drive belt 422 movesfirst platform 420A laterally along body 410 to move first set ofgripping members 414A mounted to first platform 420A apart from secondset of gripping members 414B mounted to second platform 420B.Furthermore, first platform 420A is moved apart from second platform420B to create an opening between first platform 420A and secondplatform 420B. Once a bag is torn open, the material stored within thebag may exit the bag and fall through the opening between first platform420A and second platform 420B.

As material falls between the opening between first platform 420A andsecond platform 420B, the material may collect along trap door 424. Trapdoor 424 may be opened (as depicted in FIG. 4A) to allow the material toexit apparatus 400.

FIG. 4B is a top perspective view of a section of apparatus 400, whereinfirst set of grippers 414A comprises six rotary grippers, and second setof grippers 414B comprises six rotary grippers. Apparatus 400 furthercomprises heaters 426 and ripping members 428.

FIG. 4C is side view of a section of apparatus 400, wherein rippingmembers 428 are mounted to insertion pistons 430, and insertion pistons430 are mounted to ripping pistons 432. Insertion pistons 430 raiseripping members 428, thereby inserting ripping members 428 into a bagwhen a bag is gripped by grippers 418. Ripping pistons 432 moveinsertion pistons 430, and thereby ripping members 428, along a bag whena bag is gripped by grippers 418.

Insertion pistons 430 may lower ripping members 428, thereby retractingripping members 428 after inserting ripping members 428 into a bag.Ripping members 428 may be retracted to reset ripping members 428 beforeinserting ripping members 428 into a second bag.

Ripping pistons 432 may move ripping members 428 in a first directionand a second direction opposite the first direction. In someembodiments, ripping pistons 432 move one or both of ripping members 428in one of the first and second directions to rip a bag gripped bygripping members 414, and in a second one of the first and seconddirections to reset ripping pistons 432. Ripping pistons 432 may bereset before inserting ripping members 428 into a second bag.

In some embodiments, ripping pistons 432 move one or both of rippingmembers 428 in either of the first and second directions to rip a baggripped by gripping members 414. In such embodiments, ripping pistons432 may not need to be reset before inserting ripping members 428 into asecond bag.

Apparatus 400 may comprise motor 440 for powering one or more ofgripping members 414, drive belt 422, trap door 424, heaters 426,insertion pistons 430, and ripping pistons 432.

Apparatus 400 may comprise a controller, for example a microcontroller,for controlling one or more of motor 440, gripping members 414, drivebelt 422, trap door 424, heaters 426, insertion pistons 430, and rippingpistons 432. In some embodiments, the controller operates motor 440,gripping members 414, drive belt 422, trap door 424, heaters 426,insertion pistons 430, and ripping pistons 432 to perform method 300.

VARIOUS EMBODIMENTS

In one or more embodiments, bag 14 comprises one or more of:

-   -   a flexible container that material is placed within and sealed,        for example a plastic laundry bag; and    -   a substance wrapped around a bundle of material, for example        plastic wrap wrapped around a bundle of laundry.

In one or more embodiments:

-   -   one or more of first set of gripping members 17A, 414A grip bag        14 less than 10 centimeters apart from where one or more of        second set of gripping members 17B, 414B grip bag 14;    -   bag 14 has width in direction D1, and first set of gripping        members 17A, 414A are moved apart from second set of gripping        members 17B, 414B by a distance greater than half of the width        of bag 14; and/or    -   ripping members 18, 428 are configured to be retracted in a        direction opposite to the direction in which they are inserted        into bag 14.

In one or more embodiments, bag 14 comprises a plastic bag, and formingheated section 24 comprises softening bag 14 by partially melting theplastic bag.

In some embodiments, heating bag 14 with heater 20, 426 comprisesheating heated section 24 of bag 14 to one or more of: between 100degrees Celsius and 150 degrees Celsius, and between 150 degrees Celsiusand 220 degrees Celsius. In some embodiments, heated section 24 of bag14 comprises one or more of: the portion of bag 14 heated to at least100 degrees Celsius, and the portion of bag 14 heated to at least 150degrees Celsius.

In one or more embodiments, one or more of gripping members 16, 414comprise rotary grippers. Rotary grippers comprise two curved armsconfigured to close together and grip an object between tips of the twoarms. Rotary grippers may comprise pads on the tips of the arms, whereinthe pads are closed together when the rotary grippers close. The armsmay comprise a rigid material, for example metal, and the pads maycomprise a flexible material, for example rubber.

Each rotary gripper may comprise one or more pistons for moving one orboth arms of the rotary gripper. When a bag, for example a laundry bag,rests upon a rotary gripper, the rotary grippers may grip the bad byactuating one or more pistons to close the arms of the gripper, therebygripping the bag.

In some embodiments, one or more of gripping members 16, 414 areconfigured to open between 2 centimeters and 3 centimeters.

In some embodiments, heater 22, 426 comprises one or more of: a hot airheater, an infrared heater, and a heated wire.

Vacuum 22 may comprise a fan and a nozzle, wherein the fan is configuredto pull air through the nozzle, thereby sucking material into thenozzle. In some embodiments, vacuum 22 comprise a filter over thenozzle, wherein the filter is configured to permit torn bags to passinto the nozzle, and block material stored in the bag from passingthrough the filter. Vacuum 22 may be configured to collect and storeripped bags in a bags reservoir.

Interpretation of Terms

Unless the context clearly requires otherwise, throughout thedescription and the

-   -   “comprise”, “comprising”, and the like are to be construed in an        inclusive sense, as opposed to an exclusive or exhaustive sense;        that is to say, in the sense of “including, but not limited to”;    -   “connected”, “coupled”, or any variant thereof, means any        connection or coupling, either direct or indirect, between two        or more elements; the coupling or connection between the        elements can be physical, logical, or a combination thereof;    -   “herein”, “above”, “below”, and words of similar import, when        used to describe this specification, shall refer to this        specification as a whole, and not to any particular portions of        this specification;    -   “or”, in reference to a list of two or more items, covers all of        the following interpretations of the word: any of the items in        the list, all of the items in the list, and any combination of        the items in the list;    -   the singular forms “a”, “an”, and “the” also include the meaning        of any appropriate plural forms.

Words that indicate directions such as “vertical”, “transverse”,“horizontal”, “upward”, “downward”, “forward”, “backward”, “inward”,“outward”, “left”, “right”, “front”, “back”, “top”, “bottom”, “below”,“above”, “under”, and the like, used in this description and anyaccompanying claims (where present), depend on the specific orientationof the apparatus described and illustrated. The subject matter describedherein may assume various alternative orientations. Accordingly, thesedirectional terms are not strictly defined and should not be interpretednarrowly.

Where a component (e.g. a gripping member, ripping member, heater, etc.)is referred to above, unless otherwise indicated, reference to thatcomponent (including a reference to a “means”) should be interpreted asincluding as equivalents of that component any component which performsthe function of the described component (i.e., that is functionallyequivalent), including components which are not structurally equivalentto the disclosed structure which performs the function in theillustrated exemplary embodiments of the invention.

Specific example embodiments have been described herein for purposes ofillustration. These are only examples. The technology provided hereincan be applied to systems other than the example systems describedabove. Many alterations, modifications, additions, omissions, andpermutations are possible within the practice of this invention. Thisinvention includes variations on described embodiments that would beapparent to the skilled addressee, including variations obtained by:replacing features, elements and/or acts with equivalent features,elements and/or acts; mixing and matching of features, elements and/oracts from different embodiments; combining features, elements and/oracts from embodiments as described herein with features, elements and/oracts of other technology; and/or omitting combining features, elementsand/or acts from described embodiments.

Various features are described herein as being present in “someembodiments”. Such features are not mandatory and may not be present inall embodiments. Embodiments of the invention may include zero, any oneor any combination of two or more of such features. This is limited onlyto the extent that certain ones of such features are incompatible withother ones of such features in the sense that it would be impossible fora person of ordinary skill in the art to construct a practicalembodiment that combines such incompatible features. Consequently, thedescription that “some embodiments” possess feature A and “someembodiments” possess feature B should be interpreted as an expressindication that the inventors also contemplate embodiments which combinefeatures A and B (unless the description states otherwise or features Aand B are fundamentally incompatible).

It is therefore intended that the following appended claims and claimshereafter introduced are interpreted to include all such modifications,permutations, additions, omissions, and sub-combinations as mayreasonably be inferred. The scope of the claims should not be limited bythe preferred embodiments set forth in the examples, but should be giventhe broadest interpretation consistent with the description as a whole.

1. A method for removing material from a bag, the method comprising: positioning the bag upon two or more gripping members; gripping a first section and a second section of the bag with the gripping members, wherein a third section of the bag is between the first section and the second section of the bag; heating the bag along the third section of the bag to form a heated section within the third section of the bag; inserting one or more ripping members into the third section of the bag; moving at least one of the ripping members inserted into the third section of the bag along the third section of the bag to form a tear in the bag within the heated section of the bag; and moving at least one of the gripping members apart from at least one other of the gripping members to move the first section of the bag apart from the second section of the bag, thereby enlarging the tear in the bag.
 2. The method according to claim 1, wherein the ripping members comprise two ripping members, and moving the at least one of the ripping members along the third section of the bag comprises moving a first one of the ripping members apart from a second one of the ripping members.
 3. The method according to claim 1, wherein inserting the one or more ripping members into the third section of the bag comprises: piercing the heated section of the bag with the ripping members to form one or more holes in the bag; and inserting the ripping members into the heated section of the bag.
 4. The method according to claim 1, wherein moving the at least one of the ripping members along the third section of the bag and moving the at least one of the gripping members apart from the at least one other of the gripping members comprises moving the at least one of the ripping members substantially perpendicular to the movement of the at least one of the gripping members.
 5. The method according to claim 1, wherein: the two or more gripping members comprise a first set and a second set of gripping members; positioning the bag upon the gripping members comprises positioning the first section and the second section of the bag respectively upon the first set and the second set of gripping members; and gripping the first section and the second section of the bag with the gripping members comprises closing the first set and the second set of gripping members respectively upon the first section and the second section of the bag.
 6. The method according to claim 1, wherein positioning the bag upon the gripping members comprises aligning the bag with the gripping members with a funnel and a chute and directing the bag upon the gripping members with the funnel and the chute.
 7. The method according to claim 1, wherein gripping the first section and the second section of the bag with the gripping members comprises gripping the first section and the second section of the bag less than 10 centimeters apart.
 8. The method according to claim 1, wherein moving the at least one of the gripping members apart from the at least one other of the gripping members comprises moving the gripping members apart by a distance greater than ½ of a width of the bag.
 9. The method according to claim 1, further comprising retracting the ripping members after moving the at least one of the ripping members and before moving the at least one of the gripping members.
 10. The method according to claim 1, wherein the gripping members comprise rotary grippers.
 11. The method according to claim 1, further comprising separating the bag from the material.
 12. The method according to claim 11, wherein separating the bag from the material comprises suctioning the bag from the material with a vacuum.
 13. The method according to claim 1, wherein the bag comprises a plastic bag, and heating the bag comprises melting the plastic bag.
 14. The method according to claim 1, wherein heating the bag comprises heating the bag to between 150 degrees Celsius and 220 degrees Celsius.
 15. The method according to claim 1, wherein the bag comprises a plastic laundry bag and the material comprises laundry.
 16. An apparatus for removing material from a bag, the apparatus comprising: a first set of one or more gripping members configured to grip a first section of the bag when the bag is paced upon the gripping members; a second set of one or more gripping members configured to grip a second section of the bag and move apart from the first set of gripping members; one or more ripping members insertable into a third section of the bag and moveable along the third section of the bag, wherein the third section of the bag is between the first section and the second section of the bag; and a heater configured to heat at least a portion of the third section of the bag.
 17. The apparatus according to claim 16, further comprising a vacuum configured to suction an area between the first set of gripping members and the second set of gripping members.
 18. The apparatus according to claim 16, further comprising a funnel and a chute configured to align the bag with the gripping members and direct the bag upon the gripping members.
 19. The apparatus according to claim 16, wherein each of the first set of gripping members and the second set of gripping members comprises six rotary grippers.
 20. The apparatus according to claim 16, wherein the heater is configured to heat the portion of the third section of the bag to between 150 degrees Celsius and 220 degrees Celsius. 